摘要
针对一种四自由度并联机构进行了运动学分析 ,在此基础上以摄动法建立了其误差模型 ,明确了各误差源对末端位姿的影响 .在对并联机构的标定技术进行简单介绍后 ,说明了对该机构误差模型中的机构参数进行标定的两种方法 ,介绍了标定装置、标定算法及标定过程 .最后采用Matlab对基于逆解的标定方法进行了仿真 ,并对仿真结果进行了分析 .
This paper proposes a novel 4-dof parallel mechanism. The kinematics of this mechanism is presented firstly, and then the kinematics error model is given and analyzed using perturbation method. After a simple review of the kinematics calibration technology of this parallel mechanism, two calibration methods for error model analysis on this mechanism are discussed in detail. Finally, the simulation results are given based on the IK (inverse kinematic) calibration in the Matlab environment.
出处
《机器人》
EI
CSCD
北大核心
2005年第1期6-9,共4页
Robot
关键词
并联机构
误差模型
运动学标定
优化
parallel mechanism
error model
kinematics calibration
optimization
